imu/inv_mpu6050/inv_mpu_aux.c

18 static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
29 	ret = regmap_write(st->map, st->reg->sample_rate_div, d);
34 	user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
35 	ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
43 	user_ctrl = st->chip_config.user_ctrl;
44 	ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
49 	d = st->chip_config.divider;
50 	ret = regmap_write(st->map, st->reg->sample_rate_div, d);
57 	regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
59 	regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
65  * @st: driver internal state
69 int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
78 	if (st->chip_type == INV_MPU9150) {
81 		val = st->level_shifter ? mask : 0;
82 		ret = regmap_update_bits(st->map, 0x1, mask, val);
90 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
95 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
104 	return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
109  * @st: driver internal state.
117 int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
127 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
131 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
134 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
140 	ret = inv_mpu_i2c_master_xfer(st);
145 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
150 	ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
157 	return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
161 	regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
167  * @st: driver internal state.
174 int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
181 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
184 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
187 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
190 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
196 	ret = inv_mpu_i2c_master_xfer(st);
201 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
206 	ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
215 	regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);